USV attitude angle optimization method based on gradient descent method and S-plane combined filtering

Abstract

In order to solve the problem of low cost attitude reference system used by Unmanned Surface Vehicle (USV), which is vulnerable to complex sea conditions and external hard, soft and magnetic disturbances, resulting in poor accuracy and stability of attitude angle output information, a combined algorithm based on quaternion and S-plane improved complementary filtering is proposed. After calculating the attitude angle quickly, the algorithm makes complementary filtering with the attitude angle directly output from the attitude reference system, eliminates the high and low frequency interference, and obtains a stable and high precision attitude angle information. Experiments show that the combined algorithm effectively improves the accuracy and stability of the output heading angle information of the attitude reference system, and good results are obtained in the heading control experiment.